In this paper we study a subset of hybrid systems and present a generalized method for their optimization. We outline Hybrid Cost Automata (HCA), an extension to Hybrid Automata, where discrete and continuous cost expressions are added. The class of hybrid systems with known spatial paths is dened in the context of HCA. This type of system is common in industry where for example AGVs transport goods from one location to another, or manipulators move between joint coordinates. The optimization is performed using Dynamic Programming as a preprocessing step, whereafter Mixed Integer Nonlinear Programming is used for scheduling. A case study of a four robot cell is presented with energy consumption used as a minimization criterion.

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BibTeX @conference{Wigström2012,author={Wigström, Oskar and Sundström, Nina and Lennartson, Bengt},title={Optimization of Hybrid Systems with Known Paths},booktitle={IFAC Proceedings Volumes. 4th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS'12, Eindhoven, 6-8 June 2012},isbn={978-3-902823-00-7},pages={39-45},abstract={In this paper we study a subset of hybrid systems and present a generalized method for their optimization. We outline Hybrid Cost Automata (HCA), an extension to Hybrid Automata, where discrete and continuous cost expressions are added. The class of hybrid systems with known spatial paths is dened in the context of HCA. This type of system is common in industry where for example AGVs transport goods from one location to another, or manipulators move between joint coordinates. The optimization is performed using Dynamic Programming as a preprocessing step, whereafter Mixed Integer Nonlinear Programming is used for scheduling. A case study of a four robot cell is presented with energy consumption used as a minimization criterion.},year={2012},keywords={Optimal control, Manufacturing, Hybrid automata},}

RefWorks RT Conference ProceedingsSR ElectronicID 159950A1 Wigström, OskarA1 Sundström, NinaA1 Lennartson, BengtT1 Optimization of Hybrid Systems with Known PathsYR 2012T2 IFAC Proceedings Volumes. 4th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS'12, Eindhoven, 6-8 June 2012SN 978-3-902823-00-7SP 39OP 45AB In this paper we study a subset of hybrid systems and present a generalized method for their optimization. We outline Hybrid Cost Automata (HCA), an extension to Hybrid Automata, where discrete and continuous cost expressions are added. The class of hybrid systems with known spatial paths is dened in the context of HCA. This type of system is common in industry where for example AGVs transport goods from one location to another, or manipulators move between joint coordinates. The optimization is performed using Dynamic Programming as a preprocessing step, whereafter Mixed Integer Nonlinear Programming is used for scheduling. A case study of a four robot cell is presented with energy consumption used as a minimization criterion.LA engDO 10.3182/20120606-3-NL-3011.00007LK http://dx.doi.org/10.3182/20120606-3-NL-3011.00007LK http://publications.lib.chalmers.se/records/fulltext/local_159950.pdfOL 30